GB/T 33267-2016The interface of robot simulation development environment (English PDF)

机器人仿真开发环境接口

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Issued by

AQSIQ; SAC

Level / Type

National · Recommended

Issue date

December 13, 2016

Implementation date

July 1, 2017

Scope

GB/T 33267-2016 is the English-translated version of 机器人仿真开发环境接口.

China's national standard for the interfaces of a robot simulation development environment - the software in which a robot cell is built, programmed and proved before any of it exists in metal, and which is now where most industrial robot programming actually happens. The standard specifies the interfaces of the robot simulation development environment, covering its composition and the data and control interfaces between its parts and the world outside it. It applies to the development, the integration and the interconnection of robot simulation environments. The problem it addresses is that a simulation environment is never self-contained. The geometry comes from a CAD system, the kinematic and dynamic model of the robot comes from its manufacturer, the program comes from an offline programming tool or is uploaded from the controller, the process data comes from the plant, and the result has to be handed back to a real robot without being retyped. Every one of those boundaries is an interface, and where they are proprietary the user is locked to one supplier's toolchain and cannot simulate a cell containing robots from two makers. The standard therefore defines the composition of the simulation development environment and then the interfaces between its modules - the model, the kinematics and dynamics, the trajectory planning, the collision detection, the visualisation and the program - together with the external interfaces to the CAD data, to the robot controller and to the plant, and the form and semantics of the data crossing each. Issued on 13 December 2016 and in force since 1 July 2017.

Document preview — GB/T 33267-2016

National Standard of the People's Republic of China

ICS: 25.040.30
Classification: J 28

Issued by: General Administration of Quality Supervision, Inspection and Quarantine; Standardization Administration of the PRC

ForewordIII
1 Scope1
2 Terms and definitions1
3 Abbreviations2
4 Robot simulation development environment2
5 Simulation environment development interface2
5.1 Model Construction Interface2
5.1.1 Purpose2
5.1.2 Model construction method3
5.1.3 Simulation Object Model Description Format3
5.1.4 Model Description Format General Requirements3
5.2 Control algorithm interface4
5.2.1 Purpose4
5.2.2 Passing parameters4
5.2.3 Calling the control algorithm4
6 Semi - physical simulation interface4
6.1 Overview4
6.2 Hardware in the loop simulation interface4
6.2.1 Simulation principle4
6.2.2 Interface technology composition5
6.3 Rapid control prototype simulation interface5
6.3.1 Simulation principle5
6.3.2 Interface technology composition5
7 Man - machine interaction interface5
7.1 Overview5
7.2 3D scene6
7.3 Scene editing window6
7.4 Menu bar6
7.5 Toolbar7
7.6 Status bar7
7.7 Simulation Player7
Appendix A (informative) Simulation object model description file8

Foreword

This standard is drafted in accordance with the rules given in GB/T 1.1-2009.

This standard is proposed by the China Machinery Industry Federation.

This standard is nationalized by the National Automation System and Integrated Standardization Technical Committee (SAC/TC159).

The drafting of this standard. Northeastern University, Nankai University, Beijing Institute of Mechanical Industry Automation, Beijing University of Aeronautics and Astronautics.

The main drafters of this standard. Tong Guofeng, Yang Shuai, Wei Hongxing, Liang Dongyi, Liu Xungan, Liu Jingtai, Wang Hongpeng, Sun Lei.

Robot simulation development environment interface

1 Scope

This standard specifies the simulation environment in the robot simulation development environment development interface, semi-physical simulation interface and simulation environment human-computer interaction

Interface, and simulation environment interface classification and specific requirements.

This standard applies to robot hardware and software developers.

2 terms and definitions

The following terms and definitions apply to this document.

Robot simulation development environment robotsimulationdevelopmentmentvironment;

For the robot designers to provide graphical interface for the development of the robot under the software platform, the establishment of the actual robot performance

The simulation of the robot, so that the development of the robot does not rely on the actual robot to achieve offline programming to improve the efficiency of robot development, easy to robot

Real-time simulation of visualization.

Note: including a unified programming environment, a unified compiler execution environment, reusable component library, a complete debugging/simulation environment, a variety of robot hardware

Of the "drive" program support and common common function control components, such as computer vision technology, navigation technology and robot arm control.

Remaining clauses in the full document

2 Terms and definitions
2.2 User user
2.3 Physical engine physicsengine
2.4 Rendering engine renderingengine
2.5 Simulation interface
2.6 Simulation entity
2.7 Simulation time
2.8 Shared object sharedobjects/sharedlibraries
3 Abbreviations
4 Robot simulation development environment
5 Simulation environment development interface
6 Semi - physical simulation interface
7 Man - machine interaction interface

......
This preview omits tables, figures, formulas and parts of the technical clauses. The complete document — 11 pages — is available in the English PDF.

Referenced standards

Normative references

GB/T 12643 · GB/T 12644

Similar standards

GB/T 12643|GB/T 12644|GB/T 33262|GB/T 33266|GB/T 34454|GB/T 36008

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